version: 66.06
glider: 139
mission: 8
dive: 131
start: 8 9 110 12 3 50
data:
$ID,139
$MISSION,8
$DIVE,131
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,190
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,60
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52108
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2153133.8
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1690
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2650
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,115501,2102.654,-15748.544,46,1.2,46,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.9
$GPS2,120331,2102.682,-15748.689,12,1.4,12,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,183.1,9052,-23.8,-7.895
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.05,0.000,2,0.000,0.000,424,1660,2789,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-4.2,12,110,12.57,2.42,-1.85,0.000,4,0.137,0.055,2752,283,2892,0,0,0,0,0,0
$GC,266,-1.42,-58.4,47.7,-17.4,38,271,0.20,2.30,0.00,0.000,6,0.104,0.018,2791,1729,2893,0,0,0,0,0,0
$GC,533,-1.50,-58.4,85.7,-13.4,59,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1728,2895,0,0,0,0,0,0
$GC,785,-1.58,-58.4,117.3,-12.8,79,789,0.15,2.20,0.00,0.000,4,0.056,0.022,2743,3078,2895,0,0,0,0,0,0
$GC,806,-1.66,-58.4,120.5,-13.4,80,812,0.00,2.38,0.00,0.000,6,0.000,0.034,2743,1689,2895,0,0,0,0,0,0
$GC,1066,-1.66,-58.4,156.2,-12.7,101,1070,0.00,2.28,0.00,0.000,4,0.000,0.022,2743,3074,2896,0,0,0,0,0,0
$GC,1146,-1.75,-58.4,165.4,-10.8,107,1151,0.12,2.33,0.00,0.000,6,0.064,0.032,2702,1683,2896,0,0,0,0,0,0
$GC,1408,-1.69,-58.4,203.5,-16.0,127,1413,0.15,2.40,0.00,0.000,4,0.100,0.046,2731,279,2897,0,0,0,0,0,0
$GC,1423,-1.63,-58.4,206.2,-14.9,127,1429,0.00,2.22,0.00,0.000,6,0.000,0.019,2732,1706,2897,0,0,0,0,0,0
$GC,1741,-1.67,-58.4,247.1,-14.0,143,1745,0.00,2.17,0.00,0.000,4,0.000,0.024,2731,3052,2897,0,0,0,0,0,0
$GC,1801,-1.78,-58.4,255.5,-12.6,145,1805,0.00,2.28,0.00,0.000,6,0.000,0.033,2731,1688,2896,0,0,0,0,0,0
$GC,2118,-1.84,-58.4,286.6,-9.8,160,2123,0.15,2.25,0.00,0.000,4,0.057,0.025,2684,3051,2896,0,0,0,0,0,0
$GC,2173,-1.84,-58.4,292.9,-11.3,162,2177,0.00,2.28,0.00,0.000,6,0.000,0.035,2683,1691,2896,0,0,0,0,0,0
$GC,2485,-1.80,-58.4,331.4,-13.0,171,2490,0.12,2.28,0.00,0.000,4,0.107,0.028,2708,3050,2895,0,0,0,0,0,0
$GC,2638,-1.87,-58.4,349.2,-11.1,174,2642,0.00,2.30,0.00,0.000,6,0.000,0.037,2708,1688,2895,0,0,0,0,0,0
$GC,2987,-1.87,-58.4,387.7,-11.2,183,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1688,2893,0,0,0,0,0,0
$GC,3314,-1.87,-58.4,419.3,-10.0,191,3319,0.00,2.30,0.00,0.000,4,0.000,0.032,2708,3052,2891,0,0,0,0,0,0
$GC,3458,-1.96,-58.4,433.9,-9.3,194,3463,0.15,2.33,0.00,0.000,6,0.062,0.041,2664,1691,2889,0,0,0,0,0,0
$STATE,3617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3617,begin apogee
$GC,3624,-0.31,0.0,452.6,11.8,198,3678,1.77,0.00,49.22,0.843,6,0.087,0.000,3031,1815,2649,0,0,0,0,0,0
$STATE,3678,end apogee,CONTROL_FINISHED_OK
$STATE,3679,begin climb
$GC,3681,1.56,58.4,454.0,0.0,199,3739,1.77,0.00,51.08,0.825,6,0.027,0.000,3452,1814,2410,0,0,0,0,0,0
$GC,4066,1.31,107.1,446.2,3.5,209,4115,0.30,2.47,42.50,0.832,4,0.107,0.037,3391,3202,2214,0,0,0,0,0,0
$GC,4171,1.16,107.1,438.5,10.6,211,4177,0.20,2.40,0.00,0.000,6,0.115,0.040,3354,1825,2212,0,0,0,0,0,0
$GC,4524,1.08,114.6,408.6,7.2,220,4532,0.00,0.00,6.88,0.673,6,0.000,0.000,3354,1825,2182,0,0,0,0,0,0
$GC,4847,1.00,122.4,385.2,7.2,228,4861,0.17,2.40,7.82,0.700,4,0.108,0.037,3320,3206,2151,0,0,0,0,0,0
$GC,4885,1.00,122.4,382.3,8.1,228,4890,0.00,2.42,0.00,0.000,6,0.000,0.041,3321,1823,2151,0,0,0,0,0,0
$GC,5217,1.00,122.5,358.4,7.9,237,5221,0.00,2.47,0.00,0.000,4,0.000,0.055,3320,421,2147,0,0,0,0,0,0
$GC,5339,0.90,122.5,347.6,8.8,239,5344,0.12,2.33,0.00,0.000,6,0.119,0.028,3299,1837,2143,0,0,0,0,0,0
$GC,5677,0.98,139.1,325.6,6.4,248,5697,0.00,2.58,15.27,0.763,4,0.000,0.054,3298,418,2083,0,0,0,0,0,0
$GC,5711,0.98,139.1,322.5,8.2,248,5716,0.00,2.35,0.00,0.000,6,0.000,0.028,3298,1832,2081,0,0,0,0,0,0
$GC,6025,1.05,147.9,297.9,7.1,256,6042,0.15,2.50,9.07,0.690,4,0.064,0.051,3339,422,2046,0,0,0,0,0,0
$GC,6212,0.94,147.9,280.3,10.1,264,6217,0.17,2.33,0.00,0.000,6,0.104,0.028,3306,1841,2042,0,0,0,0,0,0
$GC,6540,1.00,147.9,254.1,8.6,280,6545,0.00,2.50,0.00,0.000,4,0.000,0.051,3306,421,2041,0,0,0,0,0,0
$GC,6662,1.00,147.9,243.5,9.0,285,6666,0.00,2.30,0.00,0.000,6,0.000,0.026,3306,1836,2039,0,0,0,0,0,0
$GC,6984,1.12,188.6,230.0,4.2,301,7029,0.17,2.55,36.85,0.723,4,0.057,0.050,3355,414,1879,0,0,0,0,0,0
$GC,7210,1.02,188.6,203.1,14.7,310,7217,0.12,2.33,0.00,0.000,6,0.083,0.025,3326,1817,1873,0,0,0,0,0,0
$GC,7539,1.09,188.6,169.9,9.1,336,7544,0.00,2.45,0.00,0.000,4,0.000,0.049,3326,414,1872,0,0,0,0,0,0
$GC,7701,1.09,188.6,153.2,11.8,348,7705,0.00,2.30,0.00,0.000,6,0.000,0.023,3326,1843,1870,0,0,0,0,0,0
$GC,7968,1.18,199.1,133.2,6.9,369,7980,0.12,0.00,9.07,0.561,6,0.065,0.000,3367,1849,1838,0,0,0,0,0,0
$GC,8230,1.18,199.1,108.4,10.4,390,8234,0.00,2.45,0.00,0.000,4,0.000,0.045,3367,417,1837,0,0,0,0,0,0
$GC,8276,1.10,199.1,103.0,11.5,393,8282,0.15,2.28,0.00,0.000,6,0.100,0.021,3338,1844,1835,0,0,0,0,0,0
$GC,8537,1.20,205.5,83.1,7.3,414,8550,0.10,2.53,7.20,0.489,4,0.074,0.045,3374,418,1812,0,0,0,0,0,0
$GC,8565,1.15,205.5,80.1,10.5,416,8570,0.12,2.25,0.00,0.000,6,0.106,0.021,3350,1833,1810,0,0,0,0,0,0
$GC,8828,1.24,214.9,60.5,7.0,436,8843,0.00,2.47,10.20,0.505,4,0.000,0.043,3350,410,1772,0,0,0,0,0,0
$GC,8951,1.24,214.9,48.9,9.6,444,8957,0.00,2.30,0.00,0.000,6,0.000,0.020,3350,1831,1769,0,0,0,0,0,0
$GC,9213,1.38,221.3,28.0,7.3,469,9226,0.22,0.00,6.78,0.437,6,0.043,0.000,3418,1837,1745,0,0,0,0,0,0
$GC,9421,1.38,221.3,8.2,10.3,516,9428,0.00,2.45,0.00,0.000,4,0.000,0.044,3417,424,1745,0,0,0,0,0,0
$GC,9452,1.31,221.3,5.1,10.2,522,9460,0.12,2.28,0.00,0.000,6,0.078,0.019,3388,1865,1745,0,0,0,0,0,0
$STATE,9477,end climb,SURFACE_DEPTH_REACHED
$STATE,9477,begin surface coast
$FINISH,0.6,1.001073
$STATE,9513,end surface coast,CONTROL_FINISHED_OK
$STATE,9513,begin surface
$SM_CCo,9537,114.62,0.503,0,0,977,410.14
$SM_GC,1.33,0.00,0.00,114.62,0.000,0.000,0.503,428,1674,977,-12.29,-0.45,410.14
$IRIDIUM_FIX,2054.83,-15749.62,031199,121231
$TT8_MAMPS,0.028379
$HUMID,52.08
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,12.085
$10V_AH,10.3,8.998
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,32.125,94.825,251.950,114.625,0.000,55.673,66.864,205.750,4.500,0.000,12.285,1078.507,6390.271,446.023,1676.543,572.570,0.000,1176.719,0.000,1656.349,0.000,31.759,0.000
$DEVICE_MAMPS,137.293,60.593,842.933,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.089,337.776,774.936,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,28564,535
$CAP_FILE_SIZE,109592,0
$CFSIZE,260165632,206680064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090810,144601,2101.510,-15749.962,41,1.5,41,9.8